Commits · mpc · Marko Guberina / ur_simple_control · GitLab

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Nov 29, 2024
- fixed underactuation in the base - simple torque constraint in the y direction... · a7b9c049
  m-guberina authored 5 months ago
  a7b9c049
Nov 27, 2024
- figured out how to create ultra clean differential drive model: just combine a... · f683e23b
  m-guberina authored 5 months ago
  f683e23b
Nov 26, 2024
- made some imports optional for easier install for the wara manipulation challenge · 204fe578
  m-guberina authored 5 months ago
  
  204fe578
Nov 23, 2024
- unified multiprocessing API, cleaned up code. not perfect because the... · ebae23bb
  m-guberina authored 6 months ago
  ebae23bb
Nov 20, 2024
- final robotweek form · 4f3a0466
  m-guberina authored 6 months ago
  
  4f3a0466
- added plane calib · 1773a06b
  m-guberina authored 6 months ago
  
  1773a06b
- fixed docker for drawing_from_input · 51e4905c
  m-guberina authored 6 months ago
  
  51e4905c
- robotweek state end of second robotlab day · 20b5035e
  m-guberina authored 6 months ago
  
  20b5035e
Nov 19, 2024
- commit for first day of robotweek · 98ce6445
  m-guberina authored 6 months ago
  
  98ce6445
- commit so that i can pop changes if they don't work · 7b43741a
  m-guberina authored 6 months ago
  
  7b43741a
- small updates · 20608362
  m-guberina authored 6 months ago
  
  20608362
- final commit for robotweek · 35122e53
  m-guberina authored 6 months ago
  
  35122e53
Nov 18, 2024
- getting closer to using casadi withing SMC. fixed opencv with conda. ellipses... · 37f31a97
  m-guberina authored 6 months ago
  37f31a97
Nov 17, 2024
- hopefully now we do have opencv (conda does not see system-level installation) · dd8e826f
  m-guberina authored 6 months ago
  
  dd8e826f
- some new info. still haven't fully debugged opening windows on mac · 745aaf8e
  m-guberina authored 6 months ago
  
  745aaf8e
Nov 15, 2024
- maybe possible hopefully drawing is refreshed now · 49a11bdf
  m-guberina authored 6 months ago
  
  49a11bdf
Nov 14, 2024
- in the process of cleaning up drawing demo. significant progress has been... · 401521b7
  m-guberina authored 6 months ago
  401521b7
Nov 13, 2024
- got path-following mpc to work. the path is frame-defined, i.e. a sequence of... · 161df078
  m-guberina authored 6 months ago
  161df078
Nov 10, 2024
- wrote some ideas on how to model the cart · 79b235ef
  m-guberina authored 6 months ago
  
  79b235ef
Nov 08, 2024
- fixed the problem that joint_id=6 only makes sense for ur5e. now i use... · 8d078690
  m-guberina authored 6 months ago
  8d078690
- mpc works, but it's hella slow. it's almost certainly due to something stupid... · 3f023831
  m-guberina authored 6 months ago
  3f023831
Nov 07, 2024
- moving closer to mpc, set the functions, set the strategy in comment above... · c319fe1a
  m-guberina authored 6 months ago
  c319fe1a
- added support for csqp, and added correct constraints. it's ass. almost... · 79006ff5
  m-guberina authored 6 months ago
  79006ff5
Nov 06, 2024
- finally figured out when i'm not using control box constraints - i never set... · f39272f0
  m-guberina authored 6 months ago
  f39272f0
Nov 05, 2024
- heron ocp works. now i need to figure out how enforce joint efforts. then it... · 5777ec7b
  m-guberina authored 6 months ago
  5777ec7b
- adding --format docker hopefully fixes the podman build issue · 26c56e25
  m-guberina authored 6 months ago
  
  26c56e25
- added meshcat visualization for goal and current ee position as frames · ae6eb938
  m-guberina authored 6 months ago
  
  ae6eb938
Nov 04, 2024
- need to fix something broken in p path path following, but something is happening · 492fff46
  m-guberina authored 6 months ago
  
  492fff46
Nov 01, 2024
- did evil things to dockerfile to get pinocchio 3.2 via conda... but it works... · 636437bd
  m-guberina authored 6 months ago
  636437bd
Oct 31, 2024
- this is it for logplotting on the real branch, just spawn 1 set of plots and don't resize it · c37369ef
  m-guberina authored 6 months ago
  
  c37369ef
- logging real time plotting almost works, will try to fix that now · 08a34a51
  m-guberina authored 6 months ago
  
  08a34a51
Oct 30, 2024
- merged argument changes, logmanager and partial resolution of plotting · 5fd90e4c
  m-guberina authored 6 months ago
  
  5fd90e4c
- don't need heron_description because it doesn't work atm · 33c238c5
  m-guberina authored 6 months ago
  
  33c238c5
- gotta merge · 4f2d4615
  m-guberina authored 6 months ago
  
  4f2d4615
Oct 21, 2024
- hopefully didn't break while trying to get the demo to run. there's nice... · 2954e748
  m-guberina authored 7 months ago
  2954e748
- optimal control looks like it works now that the state bounds have been added.... · f40385e5
  m-guberina authored 7 months ago
  f40385e5
Oct 18, 2024
- some optimal control added, but it DESPERATELY needs to be turned into the... · bbec5afa
  m-guberina authored 7 months ago
  bbec5afa
- movejPI implemented · c3f11501
  m-guberina authored 7 months ago
  
  c3f11501
Oct 16, 2024
- visualizing a log now makes sense. you can add a plot with an updating... · e9427956
  m-guberina authored 7 months ago
  e9427956
Oct 15, 2024
- args are fixed, logging is fixed, some new plotting is online · 4491aa08
  m-guberina authored 7 months ago
  
  4491aa08